Method, device, computer equipment and storage medium for determining stockpile point cloud

Abstract

The present application relates to a method, device, computer equipment, storage medium and computer program product for determining a point cloud of a material pile. The method comprises: identifying boundary information of interference objects according to initial point cloud data corresponding to the scene to be tested; wherein the scene to be tested is a scene containing a material pile; determining a set of candidate areas in the scene to be tested according to the boundary information and the height value of the point cloud in the initial point cloud data, and based on a preset height condition; selecting candidate areas that meet the preset interference object size conditions in the candidate area set and determining them as interference object areas; in the initial point cloud data, eliminating the point cloud data corresponding to the boundary information and the point cloud data in the interference object area to obtain the point cloud data of the material pile. The point cloud data of the material pile can be quickly obtained by using this method.

Description

Technical Field

[0001] The present application relates to the technical field of point cloud processing, and in particular to a method, device, computer equipment and storage medium for determining a stockpile point cloud. Background Art

[0002] When storing materials, they are usually stacked into a pile. In this storage method, the point cloud data of the pile is automatically obtained and processed, which is of great reference significance for the subsequent inventory and automatic loading and unloading. Therefore, effectively distinguishing the point cloud data of the pile and the point cloud data of the interference objects is crucial to accurately obtain the parameter data of the pile.

[0003] In traditional technology, in order to obtain point cloud data of a material pile, it is first necessary to collect initial point cloud data in the test scene containing the material pile, and then use a clustering method to segment the point cloud data of the material pile and the point cloud data of the interference objects, and then eliminate the point cloud data of the interference objects in the initial point cloud data to obtain the point cloud data of the material pile.

[0004] However, using traditional technology, the clustering method involves multiple clustering operations, so as to determine the final cluster center through iteration. Obviously, this method requires more computing resources. When the point cloud data volume is large, it is difficult to quickly obtain the point cloud data of the stockpile. Summary of the invention

[0005] Based on this, it is necessary to provide a method, device, computer equipment and storage medium for determining a material pile point cloud that can quickly obtain point cloud data of the material pile in order to solve the above technical problems.

[0006] In a first aspect, the present application provides a method for determining a stockpile point cloud. The method comprises:

[0007] Identify boundary information of interference objects according to initial point cloud data corresponding to the scene to be tested; wherein the scene to be tested is a scene including a stockpile;

[0008] Determine a set of candidate areas in the scene to be tested according to the boundary information and the height values ​​of the point clouds in the initial point cloud data and based on a preset height condition;

[0009] Selecting a candidate region that meets a preset interferer size condition from the candidate region set and determining it as an interferer region;

[0010] In the initial point cloud data, the point cloud data corresponding to the boundary information and the point cloud data in the interference area are eliminated to obtain the point cloud data of the stockpile.

[0011] In one embodiment, the boundary information is a boundary grid; and the step of identifying the boundary information of the interference object according to the initial point cloud data corresponding to the scene to be tested includes:

[0012] Converting the initial point cloud data corresponding to the scene to be tested into two-dimensional grid map data; wherein the two-dimensional grid map data includes the position data of each two-dimensional grid and the height value corresponding to each two-dimensional grid;

[0013] For each target two-dimensional grid, obtain the height value corresponding to the reliable two-dimensional grid in the neighborhood of the target two-dimensional grid; wherein the target two-dimensional grid is a two-dimensional grid other than the two-dimensional grid at the edge in the two-dimensional grid map;

[0014] For each target two-dimensional grid, determine a reference height value corresponding to the target two-dimensional grid according to height values ​​corresponding to reliable two-dimensional grids in the neighborhood of the target two-dimensional grid;

[0015] For each target two-dimensional grid, if the difference between the height value corresponding to the target two-dimensional grid and the reference height value meets a preset boundary recognition condition, the target two-dimensional grid is determined as a boundary grid of the interference object.

[0016] In one embodiment, the method further comprises:

[0017] For each target two-dimensional grid, obtaining an initial two-dimensional grid in the neighborhood of the target two-dimensional grid;

[0018] If the number of all points in the initial two-dimensional grid is greater than or equal to a preset number threshold, the initial two-dimensional grid is determined as a candidate two-dimensional grid;

[0019] Constructing polygonal areas according to the position data of all candidate two-dimensional grids;

[0020] If the position data of the target two-dimensional grid is located within the polygonal area, the candidate two-dimensional grid is determined as the reliable two-dimensional grid.

[0021] In one of the embodiments, determining a set of candidate areas in the scene to be tested according to the boundary information and the height value of the point cloud in the initial point cloud data and based on a preset height condition includes:

[0022] From the two-dimensional grid set other than the boundary grid in the two-dimensional grid map, according to the height value corresponding to each two-dimensional grid in the two-dimensional grid set, select a two-dimensional grid whose height value meets a preset height condition and determine it as a candidate grid;

[0023] At least one region determined by all candidate grids is determined as a candidate region set.

[0024] In one of the embodiments, selecting, from the two-dimensional grid set other than the boundary grid in the two-dimensional grid map, a two-dimensional grid whose height value satisfies a preset height condition according to the height value corresponding to each two-dimensional grid in the two-dimensional grid set, and determining it as a candidate grid comprises:

[0025] In the two-dimensional grid map, a preset invalid height value is used to replace the height value corresponding to the boundary grid to obtain an updated two-dimensional grid map;

[0026] According to the height value corresponding to each two-dimensional grid in the updated two-dimensional grid map, in the updated two-dimensional grid map, the two-dimensional grid whose height value meets the preset height condition is determined as a candidate grid.

[0027] In one embodiment, selecting a candidate region that meets a preset interferer size condition from the candidate region set and determining it as an interferer region includes:

[0028] Searching for a connected domain in the candidate region set to obtain at least one connected domain;

[0029] In the at least one connected domain, a connected domain whose size satisfies a preset interferer size condition is selected and determined as an interferer region; wherein the preset interferer size condition is determined based on an actual size of the interferer.

[0030] In one embodiment, the boundary information is a boundary grid; the method further comprises:

[0031] Acquire first binary information map data corresponding to the two-dimensional grid map; wherein the first binary information map data includes binary information corresponding to each two-dimensional grid, and the binary information is determined based on point cloud data in each two-dimensional grid;

[0032] In the first binary information map data, the binary information corresponding to the boundary grid is set to 0 to obtain second binary information map data;

[0033] In the second binary information map data, the binary information corresponding to other regions except the candidate region set is set to 0, so as to obtain third binary information map data;

[0034] The searching for a connected domain in the candidate region set to obtain at least one connected domain comprises:

[0035] According to the third binary information map data, a connected domain search is performed on the candidate area set to obtain at least one connected domain.

[0036] In a second aspect, the present application also provides a device for determining a stockpile point cloud. The device comprises:

[0037] A boundary information identification module, used to identify boundary information of interference objects according to initial point cloud data corresponding to the scene to be tested; wherein the scene to be tested is a scene including a stockpile;

[0038] A candidate region determination module, configured to determine a set of candidate regions in the scene to be tested according to the boundary information and the height values ​​of the point clouds in the initial point cloud data and based on a preset height condition;

[0039] An interference region determination module, used to select a candidate region that meets a preset interference size condition from the candidate region set and determine it as an interference region;

[0040] The point cloud data elimination module is used to eliminate the point cloud data corresponding to the boundary information and the point cloud data in the interference area in the initial point cloud data to obtain the point cloud data of the material pile.

[0041] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0042] Identify boundary information of interference objects according to initial point cloud data corresponding to the scene to be tested; wherein the scene to be tested is a scene including a stockpile;

[0043] Determine a set of candidate areas in the scene to be tested according to the boundary information and the height values ​​of the point clouds in the initial point cloud data and based on a preset height condition;

[0044] Selecting a candidate region that meets a preset interferer size condition from the candidate region set and determining it as an interferer region;

[0045] In the initial point cloud data, the point cloud data corresponding to the boundary information and the point cloud data in the interference area are eliminated to obtain the point cloud data of the stockpile.

[0046] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0047] Identify boundary information of interference objects according to initial point cloud data corresponding to the scene to be tested; wherein the scene to be tested is a scene including a stockpile;

[0048] Determine a set of candidate areas in the scene to be tested according to the boundary information and the height values ​​of the point clouds in the initial point cloud data and based on a preset height condition;

[0049] Selecting a candidate region that meets a preset interferer size condition from the candidate region set and determining it as an interferer region;

[0050] In the initial point cloud data, the point cloud data corresponding to the boundary information and the point cloud data in the interference area are eliminated to obtain the point cloud data of the stockpile.

[0051] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0052] Identify boundary information of interference objects according to initial point cloud data corresponding to the scene to be tested; wherein the scene to be tested is a scene including a stockpile;

[0053] Determine a set of candidate areas in the scene to be tested according to the boundary information and the height values ​​of the point clouds in the initial point cloud data and based on a preset height condition;

[0054] Selecting a candidate region that meets a preset interferer size condition from the candidate region set and determining it as an interferer region;

[0055] In the initial point cloud data, the point cloud data corresponding to the boundary information and the point cloud data in the interference area are eliminated to obtain the point cloud data of the stockpile.

[0056] The above-mentioned method, device, computer equipment and storage medium for determining the material pile point cloud first identify the boundary information of the interference object based on the initial point cloud data. Then, according to the boundary information and the height value of the point cloud in the initial point cloud data, and based on the preset height condition, a set of candidate areas is determined in the scene to be tested. It should be noted that in the horizontal plane determined by the ground, the area occupied by the material pile and the area occupied by the interference object may be interconnected, making it difficult to distinguish the material pile area and the interference object area in the horizontal plane. However, as the height increases, due to the stacking characteristics of the material pile of "small on the top and large on the bottom", similar to a cone, from a certain height upwards, the horizontal area occupied by the material pile and the horizontal area occupied by the interference object will inevitably be separated. Therefore, by setting the preset height condition, it is to find out the material pile area and the interference object area that are obviously separated from each other from a certain height upwards. Based on this, it can be understood that the candidate areas identified based on the preset height condition are separated from each other. Then, a candidate area that meets the preset interference object size conditions is selected from the candidate area set and determined as the interference object area. Finally, in the initial point cloud data, the point cloud data corresponding to the boundary information and the point cloud data in the interference object area are eliminated to obtain the point cloud data of the material pile. It can be understood that the present application first identifies the boundary position of the interference object, and then identifies the main area of ​​the interference object, so that the point cloud data of the interference object can be accurately determined and eliminated to obtain the point cloud data of the material pile. The present application does not need to use a clustering method to obtain the point cloud data of the material pile, which saves the resources required for calculation and is conducive to quickly obtaining the point cloud data of the material pile. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 It is a schematic flow chart of a method for determining a stockpile point cloud in one embodiment;

[0058] Figure 2 It is a flowchart of a refinement scheme for identifying boundary information of an interference object according to initial point cloud data corresponding to a scene to be tested in one embodiment;

[0059] Figure 3 is a structural block diagram of a device for determining a stockpile point cloud in one embodiment;

[0060] Figure 4 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0062] In one embodiment, Figure 1As shown, a method for determining a stockpile point cloud is provided. This embodiment uses the method applied to a server as an example. It is understandable that the method can also be applied to a point cloud scanning device, and can also be applied to a system including a point cloud scanning device and a server, and is implemented through the interaction between the point cloud scanning device and the server. The point cloud scanning device can be, but is not limited to, a laser radar and a millimeter wave radar. The server can be implemented as an independent server or a server cluster consisting of multiple servers. In this embodiment, the method includes the following steps:

[0063] Step S102: identifying boundary information of interference objects according to initial point cloud data corresponding to the scene to be tested.

[0064] The scene to be tested is a scene containing a pile of materials. The scene may include: a pile area, a column area, a virtual image area of ​​a column, etc. The initial point cloud data includes the plane position data of the point and the height value of the point. The plane position data of point i can be represented by (x(i), y(i)), and the height value of point i can be represented by z(i). The plane position data and height value of point i constitute three-dimensional coordinates (x(i), y(i), z(i)) in the world coordinate system.

[0065] Specifically, step S102 includes the following sub-steps:

[0066] (1) Convert the initial point cloud data corresponding to the scene to be tested into two-dimensional raster map data.

[0067] In one embodiment, the server first converts the initial point cloud data corresponding to the scene to be measured into two-dimensional grid map data. The two-dimensional grid map data includes the position data of each two-dimensional grid and the height value corresponding to each two-dimensional grid. The height value corresponding to each two-dimensional grid is determined based on the height values ​​of all points in each two-dimensional grid, and is used to reflect the height value of the scanned object in the area defined by the two-dimensional grid. Among them, there are multiple methods for determining the height value corresponding to each two-dimensional grid, such as: in one embodiment, the server determines the mode of the height values ​​of all points in each two-dimensional grid as the height value corresponding to each two-dimensional grid. Or, in one embodiment, the server determines the average of the height values ​​of all points in each two-dimensional grid as the height value corresponding to each two-dimensional grid. Or, in one embodiment, the server determines the median of the height values ​​of all points in each two-dimensional grid as the height value corresponding to each two-dimensional grid.

[0068] The two-dimensional grid refers to a grid divided based on a horizontal plane (such as the ground) in the scene to be measured.

[0069] (2) According to the two-dimensional grid map data and the preset boundary recognition conditions, the boundary information of the interference object is identified.

[0070] Based on the characteristic of the boundary of the interferer: "there is a certain height difference between the boundary of the interferer and the surrounding area", the corresponding boundary recognition condition can be set. In one embodiment, the preset boundary recognition condition is used to identify the boundary grid of the interferer in the two-dimensional grid map. That is, the boundary information of the interferer is the boundary grid of the interferer.

[0071] Specifically, for each target two-dimensional grid, obtain the height value corresponding to the reliable two-dimensional grid in the neighborhood of the target two-dimensional grid. The target two-dimensional grid is a two-dimensional grid other than the two-dimensional grid at the edge in the two-dimensional grid map. Then, for each target two-dimensional grid, determine the reference height value corresponding to the target two-dimensional grid according to the height value corresponding to the reliable two-dimensional grid in the neighborhood of the target two-dimensional grid, and finally, for each target two-dimensional grid, if the difference between the height value corresponding to the target two-dimensional grid and the reference height value meets the preset boundary recognition condition, then determine the target two-dimensional grid as the boundary grid of the interference object. The preset boundary recognition condition can be that the difference is greater than a preset difference threshold.

[0072] The reliable two-dimensional grid is to screen out two-dimensional grids with reliable height values ​​around the target two-dimensional grid by setting preset conditions to ensure the accuracy of subsequent grid height value replacement. The method for determining the reliable two-dimensional grid can be referred to the description of the following embodiment.

[0073] In one embodiment, the interferer may be a fixed structure installed vertically from the ground and a virtual image of the structure. For example, the fixed structure installed vertically from the ground may be a column, a pipe, etc. The virtual image of the structure may be a multipath virtual image of a column, a multipath virtual image of a pipe, etc.

[0074] Step S104 , determining a set of candidate regions in the scene to be tested according to the boundary information and the height values ​​of the point clouds in the initial point cloud data and based on a preset height condition.

[0075] Specifically, the server determines a set of candidate regions in the scene to be tested based on the boundary information and the height value of the point cloud in the initial point cloud data and based on a preset height condition. In one embodiment, step S104 includes the following steps:

[0076] (1) In the two-dimensional grid map, the height values ​​corresponding to the boundary grids are replaced with preset invalid height values ​​to obtain an updated two-dimensional grid map.

[0077] In this embodiment, the process of converting the initial point cloud data corresponding to the scene to be tested into two-dimensional grid map data by the server includes determining the height value corresponding to the two-dimensional grid according to the height value of the point cloud in the initial point cloud data.

[0078] (2) According to the height value corresponding to each two-dimensional grid in the updated two-dimensional grid map, in the updated two-dimensional grid map, the two-dimensional grid whose height value meets the preset height condition is determined as a candidate grid. The height condition may be that the height value is greater than or equal to the preset height threshold. It should be noted that in the horizontal plane determined by the ground, the area occupied by the pile and the area occupied by the interference may be interconnected, making it difficult to distinguish the pile area and the interference area in the horizontal plane. However, as the height increases, due to the stacking characteristics of the pile of materials, which is "small on the top and large on the bottom", it is similar to a cone. From a certain height upward, the horizontal area occupied by the pile of materials and the horizontal area occupied by the interference will inevitably be separated. Therefore, by setting the preset height condition, it is to find the pile area and the interference area that are obviously separated from each other from a certain height upward. In the specific implementation method, the candidate grids with height values ​​above a certain height can be first screened out by the preset height condition, and then the candidate area can be determined based on the candidate grids.

[0079] (3) At least one region determined by all candidate grids is determined as a candidate region set.

[0080] Step S106 , selecting a candidate region that meets a preset interferer size condition from the candidate region set and determining it as an interferer region.

[0081] Specifically, the server selects a candidate area that meets a preset interference object size condition from the candidate area set according to the boundary information, and determines it as the interference object area.

[0082] In one embodiment, step S106 includes the following sub-steps:

[0083] (1) Search for connected domains in the candidate region set and obtain at least one connected domain.

[0084] Specifically, first obtain the first binary information map data corresponding to the two-dimensional grid map. Then, in the first binary information map data, set the binary information corresponding to the boundary grid to 0 to obtain the second binary information map data. Then, in the second binary information map data, set the binary information corresponding to other regions except the candidate region set to 0 to obtain the third binary information map data. Finally, adopt the connected domain search method, and perform a connected domain search on the candidate region set according to the third binary information map data to obtain at least one connected domain. The connected domain refers to the region composed of all grids with adjacent positions and binary information of 1.

[0085] (2) In at least one connected domain, a connected domain whose size satisfies a preset interferer size condition is selected and determined as an interferer region. The preset interferer size condition may be that the size of the connected domain is less than or equal to a preset size threshold.

[0086] Step S108: in the initial point cloud data, point cloud data corresponding to the boundary information and point cloud data in the interference area are removed to obtain point cloud data of the stockpile.

[0087] Specifically, the server removes the point cloud data corresponding to the boundary information and the point cloud data in the interference area from the initial point cloud data to obtain the point cloud data of the stockpile. In one embodiment, the server removes the point cloud data in the boundary grid and the point cloud data in the interference grid from the initial point cloud data, and determines the point cloud data in other grids as the point cloud data of the stockpile.

[0088] In the above-mentioned method for determining the material pile point cloud, the boundary information of the interference object is first identified based on the initial point cloud data. Then, according to the boundary information and the height value of the point cloud in the initial point cloud data, and based on the preset height condition, a set of candidate areas is determined in the scene to be tested. It should be noted that in the horizontal plane determined by the ground, the area occupied by the material pile and the area occupied by the interference object may be interconnected, making it difficult to distinguish between the material pile area and the interference object area in the horizontal plane. However, as the height increases, due to the stacking characteristics of the material pile of "small on top and large on the bottom", similar to a cone, from a certain height upwards, the horizontal area occupied by the material pile and the horizontal area occupied by the interference object will inevitably be separated. Therefore, by setting the preset height condition, it is to find out the material pile area and the interference object area that are obviously separated from each other from a certain height upwards. Based on this, it can be understood that the candidate areas identified based on the preset height condition are separated from each other. Then, a candidate area that meets the preset interference size conditions is selected from the candidate area set and determined as the interference area. Finally, in the initial point cloud data, the point cloud data corresponding to the boundary information and the point cloud data in the interference area are eliminated to obtain the point cloud data of the material pile. It can be understood that this method first identifies the boundary position of the interference object, and then identifies the main area of ​​the interference object, so that the point cloud data of the interference object can be accurately determined and eliminated to obtain the point cloud data of the material pile. This method does not need to use a clustering method to obtain the point cloud data of the material pile, which saves the resources required for calculation and is conducive to quickly obtaining the point cloud data of the material pile.

[0089] In one embodiment, Figure 2 As shown, step S102 includes the following steps:

[0090] Step S1022, converting the initial point cloud data corresponding to the scene to be tested into two-dimensional grid map data;

[0091] Step S1024, for each target two-dimensional grid, obtaining a height value corresponding to a reliable two-dimensional grid in the neighborhood of the target two-dimensional grid;

[0092] Step S1026: For each target two-dimensional grid, determine the reference height value corresponding to the target two-dimensional grid according to the height values corresponding to the reliable two-dimensional grids within the neighborhood of the target two-dimensional grid.

[0093] Step S1028: For each target two-dimensional grid, if the difference between the height value corresponding to the target two-dimensional grid and the reference height value meets the preset boundary recognition condition, then determine the target two-dimensional grid as the boundary grid of the interference object.

[0094] Among them, the two-dimensional grid map data includes the position data of each two-dimensional grid and the height value corresponding to each two-dimensional grid. A two-dimensional grid refers to a grid divided based on a horizontal plane (such as the ground) within the scene to be measured. The target two-dimensional grid is a two-dimensional grid in the two-dimensional grid map except for the two-dimensional grids located at the outermost edges. That is, the target two-dimensional grid refers to the two-dimensional grids where i > 1 and i < rows, and j > 1 and j < cols. i represents the row number where the two-dimensional grid is located, j represents the column number where the two-dimensional grid is located, rows represents the total number of rows of all two-dimensional grids, and cols represents the total number of columns of all two-dimensional grids. The boundary grid is used to represent the grid where the edge position of the interference object is located.

[0095] Specifically, for the initial point cloud data corresponding to the scene to be measured, the server projects the initial point cloud data (x(k), y(k), z(k)) into multiple two-dimensional grids according to the planar position data (x(k), y(k)) of the points, and obtains the planar position data and height values of all points within each two-dimensional grid.

[0096] Then, the server determines the height value corresponding to each two-dimensional grid according to the height values of all points within each two-dimensional grid. Among them, there are various methods to determine the height value corresponding to each two-dimensional grid. For example, in one embodiment, the server determines the mode of the height values of all points within each two-dimensional grid as the height value corresponding to each two-dimensional grid. Or, in one embodiment, the server determines the average value of the height values of all points within each two-dimensional grid as the height value corresponding to each two-dimensional grid. Or, in one embodiment, the server determines the median of the height values of all points within each two-dimensional grid as the height value corresponding to each two-dimensional grid. The position data corresponding to the two-dimensional grid can be represented by the row number (i) where the two-dimensional grid is located and the column number (j) where the two-dimensional grid is located, that is, (i, j).

[0097] Then, the server obtains the height value corresponding to the reliable two-dimensional grid in the neighborhood of the target two-dimensional grid for each target two-dimensional grid. In one embodiment, the server obtains eight initial two-dimensional grids in the eight neighborhoods of the target two-dimensional grid for each target two-dimensional grid. For the target two-dimensional grid (i, j), the eight two-dimensional grids in its eight neighborhoods are (i-1, j-1), (i-1, j), (i-1, j+1), (i, j-1), (i, j+1), (i+1, j-1), (i+1, j), (i+1, j+1). Then, the server determines the reliable two-dimensional grid among the eight initial two-dimensional grids.

[0098] In one embodiment, eight initial two-dimensional grids within the eight-neighborhood of the target two-dimensional grid may be directly determined as reliable two-dimensional grids.

[0099] In other embodiments, the reliable two-dimensional grid may also be an initial two-dimensional grid that satisfies the following conditions: the number of all points is greater than or equal to a preset number threshold, and the polygonal area formed by other initial two-dimensional grids of the corresponding target two-dimensional grid surrounds the target two-dimensional grid. Specifically, in this embodiment, when determining the reliable two-dimensional grid, firstly, for each target two-dimensional grid, the initial two-dimensional grid in the neighborhood of the target two-dimensional grid is obtained; if the number of all points in the initial two-dimensional grid is greater than or equal to the preset number threshold, the initial two-dimensional grid is determined as a candidate two-dimensional grid; a polygonal area is constructed according to the position data of all candidate two-dimensional grids; if the position data of the target two-dimensional grid is within the polygonal area, the candidate two-dimensional grid is determined as a reliable two-dimensional grid. The polygonal area may be constructed by sequentially connecting the position data of all candidate two-dimensional grids, such as coordinate point data: (i-1, j-1), (i-1, j), (i-1, j+1), (i, j-1) and (i, j+1), to obtain a polygonal area.

[0100] For the target two-dimensional grid (i, j), the eight two-dimensional grids in its eight-neighborhood are shown in Table 1 below, and the height values ​​corresponding to the eight two-dimensional grids are respectively recorded as {HeightMap(i-1, j-1), HeightMap(i-1, j), HeightMap(i-1, j+1), HeightMap(i, j-1), HeightMap(i, j+1), HeightMap(i+1, j-1), HeightMap(i+1, j), HeightMap(i+1, j+1).

[0101] (i-1,j-1) (i-1,j) (i-1,j+1) (i,j-1) (i,j) (i,j+1) (i+1,j-1) (i+1,j) (i+1,j+1)

[0102] Table 1

[0103] Afterwards, the server determines, for each target two-dimensional grid, a reference height value corresponding to the target two-dimensional grid according to height values ​​corresponding to reliable two-dimensional grids in the neighborhood of the target two-dimensional grid.

[0104] In one embodiment, the average of the height values ​​corresponding to the reliable two-dimensional grids in the neighborhood of the target two-dimensional grid is determined as the reference height value corresponding to the target two-dimensional grid. This arrangement can eliminate the adverse effects caused by the error of a single height value, which is conducive to ensuring the accuracy of the reference height value.

[0105] In other embodiments, the minimum value of the height values ​​corresponding to the reliable two-dimensional grids in the neighborhood of the target two-dimensional grid may also be determined as the reference height value corresponding to the target two-dimensional grid. In this embodiment, the method for determining the reference height value corresponding to the target two-dimensional grid is relatively simple.

[0106] In other embodiments, the server determines the mode of the height values ​​corresponding to the reliable two-dimensional grids in the neighborhood of the target two-dimensional grid as the reference height value corresponding to the target two-dimensional grid. In this embodiment, the adverse effects caused by the error of a single height value can be eliminated, which is conducive to ensuring the accuracy of the reference height value.

[0107] Finally, for each target two-dimensional grid, if the difference between the height value corresponding to the target two-dimensional grid and the reference height value meets the preset boundary recognition condition, the target two-dimensional grid is determined as the boundary grid of the interference object.

[0108] In one embodiment, if the difference is greater than a preset difference threshold (thresh_1), the target two-dimensional grid is determined as the boundary grid of the interference object. Since interference objects such as fixed structures installed vertically from the ground (such as pillars) and virtual images of the structures (such as multipath virtual images of pillars) have a certain height difference with the ground (no objects around) or objects around them, in the presentation of point cloud data, the point cloud data of such interference objects and the point cloud data around the interference objects have a high mutation phenomenon in the height values ​​at the edge positions of the two. Based on this, by setting a height threshold, the boundary grid of the interference object can be identified. The height threshold is an empirical value obtained through long-term model simulation research and development and the collection, demonstration and verification of experimental data.

[0109] In this embodiment, since there is a height mutation phenomenon in the height values ​​of the point cloud data of the interference objects such as pillars and the point cloud data around the interference objects at the edge positions of the two, the difference between the height value corresponding to the target two-dimensional grid and the reference height value determined by the height value corresponding to the reliable two-dimensional grid in the neighborhood of the target two-dimensional grid is calculated, and it is judged whether the difference meets the preset boundary recognition condition. If it does, it indicates that the target two-dimensional grid is the boundary grid of the interference object. In this way, the boundary area of ​​the interference object is found.

[0110] In one embodiment, a specific method for determining a reliable two-dimensional grid includes the following steps:

[0111] Step S112, for each target two-dimensional grid, obtaining an initial two-dimensional grid in the neighborhood of the target two-dimensional grid;

[0112] Step S114, if the number of all points in the initial two-dimensional grid is greater than or equal to a preset number threshold, the initial two-dimensional grid is determined as a candidate two-dimensional grid;

[0113] Step S116, constructing a polygonal area according to the position data of all candidate two-dimensional grids;

[0114] Step S118: If the position data of the target two-dimensional grid is located within the polygonal area, the candidate two-dimensional grid is determined as a reliable two-dimensional grid.

[0115] Specifically, in one embodiment, for each target two-dimensional grid, eight initial two-dimensional grids within the eight neighborhoods of the target two-dimensional grid are obtained. Then, the number of all points in each initial two-dimensional grid is compared with a preset number threshold. If the number is greater than or equal to the preset number threshold, it indicates that there is valid point cloud data in the initial two-dimensional grid, and the initial two-dimensional grid is determined as a candidate two-dimensional grid. Among them, the preset threshold is an empirical value obtained through long-term model simulation research and development and the collection, demonstration and verification of experimental data. Afterwards, a polygonal area is constructed based on the position data of all candidate two-dimensional grids (for example, (i-1, j-1), (i-1, j), (i-1, j+1), (i, j-1) and (i, j+1)), and it is determined whether the position data (i, j) of the target two-dimensional grid is within the polygonal area. If so, the server determines the candidate two-dimensional grid as a reliable two-dimensional grid. If not, the server ends the process.

[0116] In this embodiment, by comparing the number of all points in the initial two-dimensional grid with a preset number threshold, the two-dimensional grids with valid point cloud data can be found, and then a polygonal area is constructed based on the position data of these two-dimensional grids, and it is determined whether the position data of the target two-dimensional grid is within the polygonal area. If so, it indicates that there are reliable neighborhood reference values ​​around the target two-dimensional grid, which helps to improve the accuracy of boundary information recognition in subsequent steps.

[0117] In one embodiment, the plane position data of each point in the initial point cloud data and the height value of each point constitute three-dimensional coordinates in the world coordinate system. The three-dimensional coordinates are obtained as follows: first, the point cloud scanning device is installed at a higher position, for example, in an indoor scene, it can be installed on a fixed dome. The point cloud scanning device performs an all-round scan of the pile of materials through an internal pitch-horizontal rotation device, or a carrier device such as a follower rail. Taking the point cloud scanning device as a radar scanning system as an example, the parameter directly obtained by the radar scanning is the radial distance r, and the pitch-horizontal rotation device or the carrier device outputs the pitch angle ε and the azimuth angle α. The radial distance r, the pitch angle ε and the azimuth angle α are used as the source data output by the radar scanning system in the polar coordinate system.

[0118] Then, the source data in the polar coordinate system is converted to the radar coordinate system (rectangular coordinate system) by the following formula to obtain x, y and z:

[0119] x = r × cos(ε) × sin(α);

[0120] y = r × cos(ε) × cos(α);

[0121] z = r × sin(ε);

[0122] Afterwards, since the coordinate data in the radar coordinate system uses the radar itself as the origin of the coordinate system, it is not conducive to the user's understanding and analysis. Therefore, the coordinate data in the radar coordinate system needs to be converted to the world coordinate system through the following formula to obtain x', y' and z', that is, the initial point cloud data in the scene to be tested.

[0123] make

[0124]

[0125]

[0126] but

[0127] X′=[RT]X;

[0128] Among them, R represents the rotation matrix and T represents the translation matrix.

[0129] In this embodiment, the source data directly collected by the point cloud scanning device is converted into the coordinate system twice to obtain the point cloud data in the world coordinate system. The point cloud data in the world coordinate system is more in line with the actual situation of the actual scene, which is helpful for the user's understanding and analysis.

[0130] In one embodiment, step S104 includes the following steps:

[0131] Step S1042, in the two-dimensional grid map, replacing the height value corresponding to the boundary grid with a preset invalid height value to obtain an updated two-dimensional grid map;

[0132] Step S1044, according to the height value corresponding to each two-dimensional grid in the updated two-dimensional grid map, in the updated two-dimensional grid map, the two-dimensional grid whose height value meets the preset height condition is determined as a candidate grid;

[0133] Step S1044: determine at least one region determined by all candidate grids as a candidate region set.

[0134] Specifically, the server replaces the height value corresponding to the boundary grid with a preset invalid height value in the two-dimensional grid map to obtain an updated two-dimensional grid map. The invalid height value is an empirical value, usually set to 0, and can also be set to any value between 0 and 1. Then, based on the height value corresponding to each two-dimensional grid in the updated two-dimensional grid map, the server determines the two-dimensional grid whose height value meets the preset height condition in the updated two-dimensional grid map as a candidate grid.

[0135] In one embodiment, the server determines, in the updated two-dimensional grid map, two-dimensional grids whose height values ​​are greater than or equal to a preset height threshold as candidate grids.

[0136] In one embodiment, the server determines the two-dimensional grids in the two-dimensional grid map whose height values ​​are within a preset height range as candidate grids. Since the stockpile is generally stacked in a conical structure, at a certain height (e.g., 2 meters or 3 meters), the stockpile and the interference are separated from each other, that is, there is no contact in space. In this way, in the horizontal plane at this height, the area where the interference is located can be first identified, and then the point cloud data in the interference area can be eliminated to obtain the point cloud data of the stockpile. At the same time, since the stockpile and the interference are separated from each other, and the stockpile and the interference are distributed in continuous pieces, the two-dimensional grids that meet the height condition also exist in one or more isolated areas, which constitute the candidate area set.

[0137] In this embodiment, by setting the height condition and based on the height value corresponding to the two-dimensional grid, the horizontal plane where the material pile and the interference are separated from each other at a certain height can be found, and then a set of candidate areas can be determined in the horizontal plane, which is a set of mutually separated material pile plane areas and interference plane areas.

[0138] In one embodiment, step S106 includes the following steps:

[0139] Step S1062, searching for a connected domain in the candidate region set to obtain at least one connected domain;

[0140] Step S1064: In at least one connected domain, a connected domain whose size satisfies a preset interferer size condition is selected as an interferer region.

[0141] The preset interference object size condition is determined based on the actual size of the interference object.

[0142] Specifically, the server searches for a connected domain in the candidate region set to obtain at least one connected domain.

[0143] In one embodiment, the server first obtains first binary information map data corresponding to the two-dimensional grid map. The first binary information map data includes binary information corresponding to each two-dimensional grid, and the binary information is determined based on the point cloud data in each two-dimensional grid.

[0144] In one embodiment, the server counts the number of point clouds in each two-dimensional grid. If the number of point clouds is greater than or equal to a preset number threshold, the binary information corresponding to the two-dimensional grid is set to 1. If the number of point clouds is less than the preset number threshold, the binary information corresponding to the two-dimensional grid is set to 0. Then, the server sets the binary information corresponding to the boundary grid to 0 in the first binary information map data to obtain the second binary information map data. After that, the server sets the binary information corresponding to other areas except the candidate area set to 0 in the second binary information map data to obtain the third binary information map data.

[0145] Finally, the server uses a connected domain search method (such as a four-connected domain search method, an eight-connected domain search method) to search for a connected domain on the candidate area set according to the third binary information map data to obtain at least one connected domain. A connected domain refers to an area composed of all grids with adjacent positions and binary information of 1.

[0146] Then, the server selects a connected domain whose size satisfies the preset interference object size condition in at least one connected domain, and determines it as the interference object area. In one embodiment, in an actual scene, the area occupied by the material pile is much larger than that of interference objects such as pillars. Therefore, in a horizontal plane at a certain height, the horizontal area occupied by the material pile is larger than the horizontal area occupied by the pillars. Based on this, the server selects a connected domain whose size is less than or equal to the preset size threshold in at least one connected domain, and determines it as the interference object area. Among them, the preset size threshold is determined based on the actual size of the interference object. In one embodiment, for a specified indoor scene, the size of interference objects such as pillars is basically constant. Assuming that its spatial dimensions are setSize.x and setSize.y, the corresponding dimensions in the two-dimensional grid map are:

[0147] thresh_2=setSize.x / blockSize.x;

[0148] thresh_3=setSize.y / blockSize.y;

[0149] Among them, blockSize is the preset two-dimensional grid size.

[0150] Thresh_2 and thresh_3 are determined as preset size thresholds.

[0151] Since the binary information corresponding to the boundary grid of the interferer is previously set to 0, the boundary area of ​​the interferer may not be included in the connected domain when searching for the connected domain, so the size of the interferer area will be smaller than the preset size threshold.

[0152] In this embodiment, by setting the interferer size condition, a connected domain whose size meets the preset interferer size condition is determined as an interferer region, which is beneficial to improving the accuracy of interferer region identification.

[0153] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0154] Based on the same inventive concept, the embodiment of the present application also provides a material pile point cloud determination device for implementing the material pile point cloud determination method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of one or more material pile point cloud determination devices provided below can refer to the limitations of the material pile point cloud determination method above, and will not be repeated here.

[0155] In one embodiment, Figure 3 As shown, a device for determining a stockpile point cloud is provided, comprising:

[0156] The boundary information identification module 202 is used to identify the boundary information of the interference object according to the initial point cloud data corresponding to the scene to be tested; wherein the scene to be tested is a scene including a stockpile;

[0157] A candidate region determination module 204 is used to determine a set of candidate regions in the scene to be tested according to the boundary information and the height values ​​of the point clouds in the initial point cloud data and based on a preset height condition;

[0158] The interference region determination module 206 is used to select a candidate region that meets a preset interference size condition from the candidate region set and determine it as an interference region;

[0159] The point cloud data elimination module 208 is used to eliminate the point cloud data corresponding to the boundary information and the point cloud data in the interference area in the initial point cloud data to obtain the point cloud data of the stockpile.

[0160] In one embodiment, the boundary information identification module 202 is specifically used to convert the initial point cloud data corresponding to the scene to be tested into two-dimensional grid map data; wherein the two-dimensional grid map data includes the position data of each two-dimensional grid and the height value corresponding to each two-dimensional grid; for each target two-dimensional grid, the height value corresponding to the reliable two-dimensional grid in the neighborhood of the target two-dimensional grid is obtained; wherein the target two-dimensional grid is a two-dimensional grid other than the two-dimensional grid located at the edge in the two-dimensional grid map; for each target two-dimensional grid, according to the height value corresponding to the reliable two-dimensional grid in the neighborhood of the target two-dimensional grid, the reference height value corresponding to the target two-dimensional grid is determined; for each target two-dimensional grid, if the difference between the height value corresponding to the target two-dimensional grid and the reference height value meets the preset boundary identification condition, the target two-dimensional grid is determined as the boundary grid of the interference object.

[0161] In one embodiment, the candidate area determination module 204 is specifically used to replace the height value corresponding to the boundary grid with a preset invalid height value in the two-dimensional grid map to obtain an updated two-dimensional grid map; according to the height value corresponding to each two-dimensional grid in the updated two-dimensional grid map, in the updated two-dimensional grid map, the two-dimensional grid whose height value meets the preset height condition is determined as a candidate grid; and at least one area determined by all candidate grids is determined as a candidate area set.

[0162] In one embodiment, the interference area determination module 206 is specifically used to search for connected domains in the candidate area set to obtain at least one connected domain; in the at least one connected domain, a connected domain whose size meets a preset interference size condition is selected and determined as the interference area; wherein the preset interference size condition is determined based on the actual size of the interference.

[0163] In one embodiment, the interference area determination module 206 is specifically used to obtain first binary information map data corresponding to the two-dimensional grid map; wherein the first binary information map data includes binary information corresponding to each two-dimensional grid, and the binary information is determined based on the point cloud data in each two-dimensional grid; in the first binary information map data, the binary information corresponding to the boundary grid is set to 0 to obtain second binary information map data; in the second binary information map data, the binary information corresponding to other areas except the candidate area set is set to 0 to obtain third binary information map data; according to the third binary information map data, a connected domain search is performed on the candidate area set to obtain at least one connected domain.

[0164] Each module in the above-mentioned device for determining the stockpile point cloud can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each of the above modules.

[0165] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for determining a stockpile point cloud is implemented.

[0166] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0167] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0168] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0169] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0170] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0171] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0172] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0173] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for determining a stockpile point cloud, characterized in that: The method comprises: Identify boundary information of interference objects according to initial point cloud data corresponding to the scene to be tested; wherein the scene to be tested is a scene including a stockpile; Determine a set of candidate areas in the scene to be tested according to the boundary information and the height values ​​of the point clouds in the initial point cloud data and based on a preset height condition; Selecting a candidate region that meets a preset interferer size condition from the candidate region set and determining it as an interferer region; In the initial point cloud data, the point cloud data corresponding to the boundary information and the point cloud data in the interference area are eliminated to obtain the point cloud data of the stockpile.

2. The method according to claim 1, characterized in that: The boundary information is a boundary grid; the identifying the boundary information of the interference object according to the initial point cloud data corresponding to the scene to be tested includes: Converting the initial point cloud data corresponding to the scene to be tested into two-dimensional grid map data; wherein the two-dimensional grid map data includes the position data of each two-dimensional grid and the height value corresponding to each two-dimensional grid; For each target two-dimensional grid, obtain the height value corresponding to the reliable two-dimensional grid in the neighborhood of the target two-dimensional grid; wherein the target two-dimensional grid is a two-dimensional grid other than the two-dimensional grid at the edge in the two-dimensional grid map; For each target two-dimensional grid, determine a reference height value corresponding to the target two-dimensional grid according to height values ​​corresponding to reliable two-dimensional grids in the neighborhood of the target two-dimensional grid; For each target two-dimensional grid, if the difference between the height value corresponding to the target two-dimensional grid and the reference height value meets a preset boundary recognition condition, the target two-dimensional grid is determined as a boundary grid of the interference object.

3. The method according to claim 2, characterized in that The method further comprises: For each target two-dimensional grid, obtaining an initial two-dimensional grid in the neighborhood of the target two-dimensional grid; If the number of all points in the initial two-dimensional grid is greater than or equal to a preset number threshold, the initial two-dimensional grid is determined as a candidate two-dimensional grid; Constructing polygonal areas based on the location data of all candidate two-dimensional grids; If the position data of the target two-dimensional grid is located within the polygonal area, the candidate two-dimensional grid is determined as the reliable two-dimensional grid.

4. The method according to claim 2, characterized in that: The step of determining a set of candidate areas in the scene to be tested according to the boundary information and the height value of the point cloud in the initial point cloud data and based on a preset height condition includes: From the two-dimensional grid set other than the boundary grid in the two-dimensional grid map, according to the height value corresponding to each two-dimensional grid in the two-dimensional grid set, select a two-dimensional grid whose height value meets a preset height condition and determine it as a candidate grid; At least one region determined by all candidate grids is determined as a candidate region set.

5. The method according to claim 4, characterized in that The selecting, from the two-dimensional grid set other than the boundary grid in the two-dimensional grid map, a two-dimensional grid whose height value satisfies a preset height condition according to the height value corresponding to each two-dimensional grid in the two-dimensional grid set, and determining it as a candidate grid comprises: In the two-dimensional grid map, a preset invalid height value is used to replace the height value corresponding to the boundary grid to obtain an updated two-dimensional grid map; According to the height value corresponding to each two-dimensional grid in the updated two-dimensional grid map, in the updated two-dimensional grid map, the two-dimensional grid whose height value meets the preset height condition is determined as a candidate grid.

6. The method according to any one of claims 1 to 5, characterized in that: The selecting a candidate region satisfying a preset interference size condition from the candidate region set and determining it as an interference region includes: Searching for a connected domain in the candidate region set to obtain at least one connected domain; In the at least one connected domain, a connected domain whose size satisfies a preset interferer size condition is selected and determined as an interferer region; wherein the preset interferer size condition is determined based on an actual size of the interferer.

7. The method according to claim 6, characterized in that The boundary information is a boundary grid; the method further includes: Acquire first binary information map data corresponding to the two-dimensional grid map; wherein the first binary information map data includes binary information corresponding to each two-dimensional grid, and the binary information is determined based on point cloud data in each two-dimensional grid; In the first binary information map data, the binary information corresponding to the boundary grid is set to 0 to obtain second binary information map data; In the second binary information map data, the binary information corresponding to other regions except the candidate region set is set to 0, so as to obtain third binary information map data; The searching for a connected domain in the candidate region set to obtain at least one connected domain comprises: According to the third binary information map data, a connected domain search is performed on the candidate area set to obtain at least one connected domain.

8. A device for determining a stockpile point cloud, characterized in that: The device comprises: A boundary information identification module, used to identify boundary information of interference objects according to initial point cloud data corresponding to the scene to be tested; wherein the scene to be tested is a scene including a stockpile; A candidate region determination module, configured to determine a set of candidate regions in the scene to be tested according to the boundary information and the height values ​​of the point clouds in the initial point cloud data and based on a preset height condition; An interference region determination module, used to select a candidate region that meets a preset interference size condition from the candidate region set and determine it as an interference region; The point cloud data elimination module is used to eliminate the point cloud data corresponding to the boundary information and the point cloud data in the interference area in the initial point cloud data to obtain the point cloud data of the material pile.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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